EP3894790A4 - ROUTE PLANNING SYSTEMS AND METHODS - Google Patents
ROUTE PLANNING SYSTEMS AND METHODS Download PDFInfo
- Publication number
- EP3894790A4 EP3894790A4 EP20741311.3A EP20741311A EP3894790A4 EP 3894790 A4 EP3894790 A4 EP 3894790A4 EP 20741311 A EP20741311 A EP 20741311A EP 3894790 A4 EP3894790 A4 EP 3894790A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- systems
- methods
- route planning
- planning
- route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
- G01C21/3889—Transmission of selected map data, e.g. depending on route
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3614—Destination input or retrieval through interaction with a road map, e.g. selecting a POI icon on a road map
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/387—Organisation of map data, e.g. version management or database structures
- G01C21/3874—Structures specially adapted for data searching and retrieval
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
- G08G1/096816—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the complete route is transmitted to the vehicle at once
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/09685—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is computed only once and not updated
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096866—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the complete route is shown to the driver
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096877—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement
- G08G1/096883—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement where input information is obtained using a mobile device, e.g. a mobile phone, a PDA
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- General Business, Economics & Management (AREA)
- Economics (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Strategic Management (AREA)
- Mathematical Physics (AREA)
- Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Operations Research (AREA)
- Mobile Radio Communication Systems (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910032301.5A CN109724612B (zh) | 2019-01-14 | 2019-01-14 | 一种基于拓扑地图的agv路径规划方法及设备 |
PCT/CN2020/070820 WO2020147621A1 (en) | 2019-01-14 | 2020-01-08 | Systems and methods for route planning |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3894790A1 EP3894790A1 (en) | 2021-10-20 |
EP3894790A4 true EP3894790A4 (en) | 2022-03-02 |
Family
ID=66298338
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20741311.3A Pending EP3894790A4 (en) | 2019-01-14 | 2020-01-08 | ROUTE PLANNING SYSTEMS AND METHODS |
Country Status (6)
Country | Link |
---|---|
US (1) | US20210341309A1 (ja) |
EP (1) | EP3894790A4 (ja) |
JP (1) | JP7350075B2 (ja) |
KR (1) | KR102643759B1 (ja) |
CN (1) | CN109724612B (ja) |
WO (1) | WO2020147621A1 (ja) |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109724612B (zh) * | 2019-01-14 | 2021-06-15 | 浙江华睿科技有限公司 | 一种基于拓扑地图的agv路径规划方法及设备 |
CN110275525A (zh) * | 2019-05-16 | 2019-09-24 | 智久(厦门)机器人科技有限公司上海分公司 | 一种机器人交通管制系统与方法、路径规划系统与方法 |
CN110455305A (zh) * | 2019-08-20 | 2019-11-15 | 云南梦工厂机器人有限公司 | 具有自主路径规划功能的agv小车控制方法 |
CN112683287A (zh) * | 2019-10-18 | 2021-04-20 | 上海商汤临港智能科技有限公司 | 路径生成方法及装置、电子设备和存储介质 |
CN110954123B (zh) * | 2019-12-10 | 2021-05-04 | 电子科技大学 | 一种基于阿克曼约束的路径规划方法 |
CN112985429B (zh) * | 2019-12-13 | 2023-07-25 | 杭州海康机器人股份有限公司 | 拓扑地图的处理方法、装置及设备 |
CN111158370B (zh) * | 2019-12-30 | 2023-06-30 | 华东交通大学 | 一种自动导引车agv部署方法、系统及自动导引车agv |
CN111240322B (zh) * | 2020-01-09 | 2020-12-29 | 珠海市一微半导体有限公司 | 机器人移动限制框的工作起点确定方法及运动控制方法 |
CN111338343B (zh) * | 2020-02-27 | 2023-08-29 | 歌尔股份有限公司 | 自动引导车调度方法、装置、电子设备及存储介质 |
CN111405515B (zh) * | 2020-03-25 | 2022-04-19 | 广西八联通信工程有限公司 | 一种基于5g通信的物联网 |
CN111367295A (zh) * | 2020-03-26 | 2020-07-03 | 华南理工大学 | 一种智能轮椅床的导航与避障系统及方法 |
CN111582579A (zh) * | 2020-05-08 | 2020-08-25 | 中航华东光电(上海)有限公司 | 一种基于拓扑地图的预测性多agv任务分配方法 |
CN111750862A (zh) * | 2020-06-11 | 2020-10-09 | 深圳优地科技有限公司 | 基于多区域的机器人路径规划方法、机器人及终端设备 |
CN111814605B (zh) * | 2020-06-23 | 2024-01-19 | 浙江华睿科技股份有限公司 | 基于拓扑地图的主干道识别方法、识别装置及存储装置 |
CN111679677B (zh) * | 2020-06-24 | 2023-10-03 | 浙江华睿科技股份有限公司 | Agv的位姿调整方法、装置、存储介质、电子装置 |
CN111780762B (zh) * | 2020-06-30 | 2022-04-22 | 杭州海康机器人技术有限公司 | 巡检路径生成方法、装置和存储介质 |
CN112015174B (zh) * | 2020-07-10 | 2022-06-28 | 歌尔股份有限公司 | 一种多agv运动规划方法、装置和系统 |
US20220163969A1 (en) * | 2020-11-20 | 2022-05-26 | Rapyuta Robotics Co., Ltd. | Systems and methods for optimizing route plans in an operating environment |
CN112918487B (zh) * | 2021-02-24 | 2022-04-12 | 京东鲲鹏(江苏)科技有限公司 | 无人车起步方法、装置、电子设备和计算机可读介质 |
CN113298294B (zh) * | 2021-04-30 | 2022-04-08 | 成都飞机工业(集团)有限责任公司 | 一种基于智能生产线的物流路径规划方法 |
CN113253687B (zh) * | 2021-06-10 | 2021-10-15 | 浙江华睿科技股份有限公司 | 基于弧线连通性优化调度的方法及装置、电子设备 |
US20230063370A1 (en) * | 2021-08-30 | 2023-03-02 | Rapyuta Robotics Co., Ltd. | Multi-robot route planning |
KR102698701B1 (ko) * | 2021-08-30 | 2024-08-26 | 주식회사 클로버스튜디오 | 강화학습을 이용한 비행 공역 내 무인이동체 경로 결정 방법 |
CN114091918A (zh) * | 2021-11-23 | 2022-02-25 | 南京尚网网络科技有限公司 | 调度方法和设备 |
CN114383615A (zh) * | 2021-12-02 | 2022-04-22 | 广东嘉腾机器人自动化有限公司 | Agv系统的路径规划方法、系统、设备及介质 |
CN114413919A (zh) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | 一种导航方法、装置、设备以及计算机存储介质 |
CN114323028B (zh) * | 2022-03-16 | 2022-06-07 | 中南大学 | 自适应地图的路径规划方法、系统、设备及介质 |
WO2024134560A1 (en) * | 2022-12-20 | 2024-06-27 | Grand Performance Online Pty Ltd | Dynamic logistics environment |
CN116205474B (zh) * | 2023-05-06 | 2023-07-18 | 深圳市森歌数据技术有限公司 | 停车场的agv任务分配方法、装置、电子设备及存储介质 |
CN116700298B (zh) * | 2023-08-08 | 2023-11-21 | 浙江菜鸟供应链管理有限公司 | 路径规划方法、系统、设备及存储介质 |
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EP0618523A1 (en) * | 1993-04-02 | 1994-10-05 | Shinko Electric Co. Ltd. | Transport management control apparatus and method for unmanned vehicle system |
JP2016170580A (ja) * | 2015-03-12 | 2016-09-23 | 株式会社シンテックホズミ | 搬送車システム |
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JP6379117B2 (ja) | 2016-01-08 | 2018-08-22 | 株式会社Subaru | 経路探索装置、経路探索方法及び経路探索プログラム |
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CN107179773B (zh) * | 2017-07-25 | 2018-07-31 | 哈尔滨工大特种机器人有限公司 | 一种agv的避让调度控制方法及系统 |
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CN108170146B (zh) * | 2017-12-31 | 2021-07-30 | 芜湖哈特机器人产业技术研究院有限公司 | 一种基于已知环境的路径规划方法 |
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CN108919300B (zh) * | 2018-07-17 | 2022-07-08 | 重庆大学 | 一种面向仓库通道场景的混合地图创建方法 |
CN109131318B (zh) * | 2018-10-19 | 2020-03-27 | 清华大学 | 一种基于拓扑地图的自主泊车路径协调方法 |
CN109724612B (zh) * | 2019-01-14 | 2021-06-15 | 浙江华睿科技有限公司 | 一种基于拓扑地图的agv路径规划方法及设备 |
-
2019
- 2019-01-14 CN CN201910032301.5A patent/CN109724612B/zh active Active
-
2020
- 2020-01-08 JP JP2021541089A patent/JP7350075B2/ja active Active
- 2020-01-08 KR KR1020217024785A patent/KR102643759B1/ko active IP Right Grant
- 2020-01-08 EP EP20741311.3A patent/EP3894790A4/en active Pending
- 2020-01-08 WO PCT/CN2020/070820 patent/WO2020147621A1/en unknown
-
2021
- 2021-07-14 US US17/305,722 patent/US20210341309A1/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0618523A1 (en) * | 1993-04-02 | 1994-10-05 | Shinko Electric Co. Ltd. | Transport management control apparatus and method for unmanned vehicle system |
JP2016170580A (ja) * | 2015-03-12 | 2016-09-23 | 株式会社シンテックホズミ | 搬送車システム |
Also Published As
Publication number | Publication date |
---|---|
CN109724612B (zh) | 2021-06-15 |
KR102643759B1 (ko) | 2024-03-07 |
WO2020147621A1 (en) | 2020-07-23 |
EP3894790A1 (en) | 2021-10-20 |
JP2022518699A (ja) | 2022-03-16 |
CN109724612A (zh) | 2019-05-07 |
US20210341309A1 (en) | 2021-11-04 |
KR20210108479A (ko) | 2021-09-02 |
JP7350075B2 (ja) | 2023-09-25 |
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